This study is carried out pose estimation using textures and surface structure of the object. The pose estimation of the object, method of estimating 3D motion parameters by the homography matrix decomposition is widely used. However, point on the object corresponding to the four points necessary for calculating the homography matrix must be present on the same plane. Therefore, leads the relationship betweenthe two homography matrix in posture change of one plane and another plane using the information of the shape of the object, and to calculate the homography matrix using four sets of points together two planes. By this method, calculation of the homography matrix to the orthogonal two planes, conversion of points using the homography matrix is confirmed to be correct. It is possible to pose estimation by using the feature points of another plane, even if the feature points can not be sufficiently taken on the same plane.